The primary role of on-board accelerometer sensor is to continously correct estimated orientation using Earth gravitational as reference of vertical direction. However, due to its nature, accelerometer sensor is a subject of distorion whenever vibration and/or other than gravity types of acceleration are applied to the AHRS frame of reference.
In case where accelerometer can no longer be assumed to measure only components of Earth gravity vector, trust to its measurements should be reduced to avoid distorting AHRS estimated orientation.
The trust to each of accelerometer measurement component (x,y,z) can be reduced by increasing values of accelerometer measurement matrix coeficiences in relation to similar coeficiences for gyroscope and magnetometer sensors.
Analogically, when AHRS is operating in environment where no distortions are applied to accelerometer sensor, AHRS performance can be improved by lowering values of accelerometer-related coeficiencies.
The accelerometer measurement coeficiencies can be changed with use of SET_FILTER_ACC message.